Added highlevel commander

Author: evoggy

Cargo.toml

@@ -38,6 +38,10 @@ pkg-fmt = "zip"
 name = "cfcli"
 path = "src/main.rs"
 
+[features]
+default = []
+packet_capture = ["crazyflie-link/packet_capture"]
+
 [dependencies]
 futures-util = "0.3"
 futures = "0.3"
@@ -47,8 +51,8 @@ num_enum = "0.7.4"
 half = "2.6.0"
 env_logger = "0.11.8"
 anyhow = "1.0"
-crazyflie-link = { version="0.3.0", default-features = false }
-crazyflie-lib = { git="https://github.com/bitcraze/crazyflie-lib-rs.git", branch="evoggy/deckmem-flashing", default-features = false }
+crazyflie-link = { version = "0.4.0", default-features = false }
+crazyflie-lib = { version = "0.5.1", default-features = false }
 cfloader = { git="https://github.com/ataffanel/cfloader-rs.git", default-features = false }
 clap = { version = "4.5.46", features = ["derive"] }
 

README.md

@@ -11,6 +11,7 @@ during development to quickly access various subsystems in the Crazyflie and sup
 * Configure radio settings like channel, address and speed
 * Turn the platform on/off or put it to sleep/wake it up
 * Run stability tests with the Crazyflie
+* High-level commander (takeoff, land, go-to, trajectories)
 
 It's not intended to be used for creating more advanced scripts or functionality, it's better to
 use the the [Crazyflie python library](https://github.com/bitcraze/crazyflie-lib-python) for that.
@@ -75,6 +76,7 @@ Commands:
   scan      List the Crazyflies found while scanning (on the selected address)
   select    Scan for Crazyflies and select which one to save for later interactions
   console   Print the console text from a Crazyflie
+  hl        High-level commander operations (takeoff, land, go-to, trajectory, etc.)
   help      Print this message or the help of the given subcommand(s)
 
 Options:
@@ -119,8 +121,9 @@ cfcli bootload flash --release 2025.12
 For a more indepth view on how to use the different commands, have a look at the documentation:
 
 * [Bootloader](/docs/bootload.md)
-* [Logging](/docs/logging.md)
 * [Console](/docs/console.md)
+* [High-Level Commander](/docs/high-level-commander.md)
+* [Logging](/docs/logging.md)
 * [Memory](/docs/memory.md)
 * [Platform](/docs/platform.md)
 

docs/high-level-commander.md

@@ -0,0 +1,292 @@
+# High-Level Commander
+
+The high-level commander provides autonomous flight capabilities for the Crazyflie. It handles
+takeoff, landing, position control, and trajectory execution. All commands require the Crazyflie
+to have a valid position estimate (from a positioning system like Lighthouse or Loco).
+
+```text
+Usage: cfcli hl <COMMAND>
+
+Commands:
+  arm         Arm the Crazyflie (enable motors)
+  disarm      Disarm the Crazyflie (disable motors)
+  takeoff     Take off to a specified height
+  land        Land at the current position
+  goto        Go to a specified position
+  stop        Stop all high-level commands and disable motors
+  trajectory  Trajectory operations
+  help        Print this message or the help of the given subcommand(s)
+```
+
+## Arm and Disarm
+
+Before flying, the Crazyflie must be armed. This enables the motors and allows the high-level
+commander to control the drone.
+
+```text
+cfcli hl arm
+cfcli hl disarm
+```
+
+## Takeoff
+
+Take off to a specified height. The duration specifies how long it should take to reach the target height.
+
+```text
+cfcli hl takeoff <HEIGHT> [DURATION] [--yaw <YAW>]
+```
+
+### Takeoff Examples
+
+```text
+# Take off to 0.5 meters over 2 seconds (default)
+cfcli hl takeoff 0.5
+
+# Take off to 1 meter over 3 seconds
+cfcli hl takeoff 1.0 3.0
+
+# Take off to 0.5 meters while rotating to 90 degrees yaw
+cfcli hl takeoff 0.5 --yaw 90
+```
+
+## Land
+
+Land at the current position. The height parameter specifies the target landing height (typically 0.0).
+
+```text
+cfcli hl land [HEIGHT] [DURATION] [--yaw <YAW>]
+```
+
+### Land Examples
+
+```text
+# Land over 2 seconds (default)
+cfcli hl land
+
+# Land over 3 seconds
+cfcli hl land 0.0 3.0
+
+# Land while rotating to 0 degrees yaw
+cfcli hl land --yaw 0
+```
+
+## Go To Position
+
+Move to a specified position. The position is given as comma-separated x,y,z coordinates.
+
+```text
+cfcli hl goto <POSITION> [-d <DURATION>] [--yaw <YAW>] [-r]
+```
+
+The position format is `x,y,z` where `x`, `y`, `z` are coordinates in meters.
+
+Options:
+
+- `-d, --duration`: Time in seconds to reach the position (default: 2.0)
+- `--yaw`: Target yaw in degrees (default: 0)
+- `-r, --relative`: Move relative to current position
+
+### Go To Examples
+
+```text
+# Go to position (1, 0, 0.5) over 2 seconds
+cfcli hl goto 1.0,0.0,0.5
+
+# Go to position (1, 2, 1) with 90 degree yaw over 5 seconds
+cfcli hl goto 1.0,2.0,1.0 --yaw 90 -d 5.0
+
+# Move 0.5 meters forward relative to current position
+cfcli hl goto 0.5,0,0 -r
+
+# Negative coordinates are supported
+cfcli hl goto -1.0,-0.5,0.5
+
+# Rotate to 180 degrees yaw while moving
+cfcli hl goto 0.0,0.0,0.5 --yaw 180
+```
+
+## Stop
+
+Immediately stop all high-level commander operations and disable the motors.
+
+```text
+cfcli hl stop
+```
+
+## Trajectory Operations
+
+Trajectories allow complex pre-defined flight paths to be executed. Trajectories are defined
+as polynomial segments in a YAML file, uploaded to the Crazyflie's memory, and then executed.
+
+```text
+Usage: cfcli hl trajectory <COMMAND>
+
+Commands:
+  upload   Upload a trajectory from a YAML file
+  run      Run a previously uploaded trajectory
+  display  Display trajectory information (memory info or file contents)
+```
+
+### Trajectory File Format
+
+Trajectory files are YAML files containing a list of polynomial segments. Each segment defines
+a 7th-degree polynomial for x, y, z, and yaw over a specified duration. This format is compatible
+with the output from the [uav_trajectories](https://github.com/whoenig/uav_trajectories) tool.
+
+```yaml
+segments:
+  - duration: 1.5
+    x: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    y: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    z: [0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    yaw: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+  - duration: 2.0
+    x: [0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    y: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    z: [0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    yaw: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+```
+
+Each segment contains:
+- `duration`: Time in seconds for this segment
+- `x`, `y`, `z`: 8 polynomial coefficients (constant through 7th degree) for position in meters
+- `yaw`: 8 polynomial coefficients for yaw angle in radians
+
+The polynomial is evaluated as: `p(t) = c[0] + c[1]*t + c[2]*t^2 + ... + c[7]*t^7`
+
+Each segment uses 132 bytes of memory on the Crazyflie.
+
+### Upload Trajectory
+
+Upload a trajectory from a YAML file to the Crazyflie's trajectory memory.
+
+```text
+cfcli hl trajectory upload <FILE> [-i <ID>] [-o <OFFSET>]
+```
+
+Options:
+- `-i, --trajectory-id`: Trajectory ID to assign (default: 1)
+- `-o, --offset`: Memory offset in bytes (default: 0)
+
+### Upload Examples
+
+```text
+# Upload trajectory with default ID (1)
+cfcli hl trajectory upload my_trajectory.yaml
+
+# Upload trajectory with ID 2
+cfcli hl trajectory upload figure8.yaml -i 2
+
+# Upload multiple trajectories at different offsets
+cfcli hl trajectory upload traj1.yaml -i 1 -o 0
+cfcli hl trajectory upload traj2.yaml -i 2 -o 1000
+```
+
+### Run Trajectory
+
+Execute a previously uploaded trajectory.
+
+```text
+cfcli hl trajectory run <ID> [-s <SCALE>] [-r] [-y] [--reversed]
+```
+
+Options:
+- `-s, --time-scale`: Time scale factor (1.0 = normal, >1.0 = slower, <1.0 = faster)
+- `-r, --relative-position`: Shift trajectory to start at current position
+- `-y, --relative-yaw`: Align trajectory yaw to current heading
+- `--reversed`: Run the trajectory backwards
+
+### Run Examples
+
+```text
+# Run trajectory ID 1 at normal speed
+cfcli hl trajectory run 1
+
+# Run trajectory at half speed
+cfcli hl trajectory run 1 -s 2.0
+
+# Run trajectory at double speed
+cfcli hl trajectory run 1 -s 0.5
+
+# Run trajectory relative to current position and yaw
+cfcli hl trajectory run 1 -r -y
+
+# Run trajectory in reverse
+cfcli hl trajectory run 1 --reversed
+```
+
+### Display Trajectory Info
+
+Display information about a trajectory file or the Crazyflie's trajectory memory.
+
+```text
+# Display trajectory file contents
+cfcli hl trajectory display my_trajectory.yaml
+
+# Display trajectory memory info from Crazyflie
+cfcli hl trajectory display
+```
+
+## Complete Flight Example
+
+Here's a complete example of a simple flight sequence:
+
+```bash
+# Select your Crazyflie
+cfcli select
+
+# Arm the motors
+cfcli hl arm
+
+# Take off to 0.5 meters
+cfcli hl takeoff 0.5
+
+# Wait a moment (the command returns immediately)
+sleep 3
+
+# Move to a position
+cfcli hl goto 1.0,0.0,0.5 -d 2.0
+sleep 3
+
+# Move to another position
+cfcli hl goto 0.0,1.0,0.5 -d 2.0
+sleep 3
+
+# Return to origin
+cfcli hl goto 0.0,0.0,0.5 -d 2.0
+sleep 3
+
+# Land
+cfcli hl land
+sleep 3
+
+# Disarm (optional, landing auto-disarms after a delay)
+cfcli hl disarm
+```
+
+## Trajectory Flight Example
+
+Example of uploading and running a trajectory:
+
+```bash
+# Select your Crazyflie
+cfcli select
+
+# Check trajectory file contents
+cfcli hl trajectory display figure8.yaml
+
+# Arm and take off
+cfcli hl arm
+cfcli hl takeoff 0.5
+sleep 3
+
+# Upload the trajectory
+cfcli hl trajectory upload figure8.yaml -i 1
+
+# Run the trajectory (relative to current position)
+cfcli hl trajectory run 1 -r
+
+# Wait for trajectory to complete, then land
+sleep 10
+cfcli hl land
+```